{"id":"https://openalex.org/W4402592574","doi":"https://doi.org/10.1126/scirobotics.adl3546","title":"Hexagonal electrohydraulic modules for rapidly reconfigurable high-speed robots","display_name":"Hexagonal electrohydraulic modules for rapidly reconfigurable high-speed robots","publication_year":2024,"publication_date":"2024-09-18","ids":{"openalex":"https://openalex.org/W4402592574","doi":"https://doi.org/10.1126/scirobotics.adl3546","pmid":"https://pubmed.ncbi.nlm.nih.gov/39292807"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.adl3546","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adl3546","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002790765","display_name":"Zachary Yoder","orcid":"https://orcid.org/0000-0002-9182-6005"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE","US"],"is_corresponding":true,"raw_author_name":"Zachary Yoder","raw_affiliation_strings":["Paul M. Rady Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA","Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Paul M. Rady Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063763588","display_name":"Ellen H. Rumley","orcid":"https://orcid.org/0000-0002-6580-8153"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE","US"],"is_corresponding":true,"raw_author_name":"Ellen H. Rumley","raw_affiliation_strings":["Paul M. Rady Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA","Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Paul M. Rady Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007754175","display_name":"Ingemar Schmidt","orcid":"https://orcid.org/0000-0003-0754-9656"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ingemar Schmidt","raw_affiliation_strings":["Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016447319","display_name":"Philipp Rothemund","orcid":"https://orcid.org/0000-0002-0588-6993"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Philipp Rothemund","raw_affiliation_strings":["Institute for Adaptive Mechanical Systems, University of Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Adaptive Mechanical Systems, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005851458","display_name":"Christoph Keplinger","orcid":"https://orcid.org/0000-0001-9151-4100"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["DE","US"],"is_corresponding":true,"raw_author_name":"Christoph Keplinger","raw_affiliation_strings":["Materials Science and Engineering Program, University of Colorado, Boulder, CO, USA","Paul M. Rady Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA","Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Materials Science and Engineering Program, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"Paul M. Rady Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5002790765","https://openalex.org/A5005851458","https://openalex.org/A5063763588"],"corresponding_institution_ids":["https://openalex.org/I188538660","https://openalex.org/I4210135521"],"apc_list":null,"apc_paid":null,"fwci":10.6983,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.99304388,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"9","issue":"94","first_page":"eadl3546","last_page":"eadl3546"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.764949381351471},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7062315940856934},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.636146068572998},{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.43835195899009705},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4340590238571167},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.4003969430923462},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3561616539955139},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3349016308784485},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33144786953926086},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3274744153022766},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.25452762842178345},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11579406261444092}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.764949381351471},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7062315940856934},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.636146068572998},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.43835195899009705},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4340590238571167},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4003969430923462},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3561616539955139},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3349016308784485},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33144786953926086},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3274744153022766},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.25452762842178345},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11579406261444092},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.adl3546","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adl3546","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:39292807","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39292807","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Responsible consumption and production","id":"https://metadata.un.org/sdg/12","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":80,"referenced_works":["https://openalex.org/W146395947","https://openalex.org/W1515749184","https://openalex.org/W1977655452","https://openalex.org/W2002216615","https://openalex.org/W2017545506","https://openalex.org/W2023457960","https://openalex.org/W2047184956","https://openalex.org/W2051581382","https://openalex.org/W2054167258","https://openalex.org/W2070662831","https://openalex.org/W2079574144","https://openalex.org/W2079950637","https://openalex.org/W2084192558","https://openalex.org/W2101392651","https://openalex.org/W2122736437","https://openalex.org/W2139841931","https://openalex.org/W2149841830","https://openalex.org/W2151648288","https://openalex.org/W2153612098","https://openalex.org/W2160096432","https://openalex.org/W2163566443","https://openalex.org/W2166389270","https://openalex.org/W2166585449","https://openalex.org/W2560730116","https://openalex.org/W2571445476","https://openalex.org/W2577559484","https://openalex.org/W2592722105","https://openalex.org/W2608855996","https://openalex.org/W2618733545","https://openalex.org/W2626297971","https://openalex.org/W2775854755","https://openalex.org/W2781516556","https://openalex.org/W2782093158","https://openalex.org/W2782291184","https://openalex.org/W2784648116","https://openalex.org/W2805191169","https://openalex.org/W2809500324","https://openalex.org/W2884997579","https://openalex.org/W2896004893","https://openalex.org/W2899318310","https://openalex.org/W2904979905","https://openalex.org/W2925851259","https://openalex.org/W2947612831","https://openalex.org/W2952125074","https://openalex.org/W2953081104","https://openalex.org/W2964957494","https://openalex.org/W2968034509","https://openalex.org/W2970642377","https://openalex.org/W2980716481","https://openalex.org/W2995959254","https://openalex.org/W3008564376","https://openalex.org/W3038425751","https://openalex.org/W3045105376","https://openalex.org/W3077152431","https://openalex.org/W3104511684","https://openalex.org/W3106797099","https://openalex.org/W3131530865","https://openalex.org/W3139257454","https://openalex.org/W3164329295","https://openalex.org/W3179267104","https://openalex.org/W3204593809","https://openalex.org/W3215709342","https://openalex.org/W4206921593","https://openalex.org/W4211124276","https://openalex.org/W4220857835","https://openalex.org/W4244367163","https://openalex.org/W4300716876","https://openalex.org/W4308803953","https://openalex.org/W4309492674","https://openalex.org/W4317382992","https://openalex.org/W4323920393","https://openalex.org/W4353038822","https://openalex.org/W4365140269","https://openalex.org/W4384820345","https://openalex.org/W4385424581","https://openalex.org/W4385627402","https://openalex.org/W4386026823","https://openalex.org/W4386351562","https://openalex.org/W4386604100","https://openalex.org/W4388523584"],"related_works":["https://openalex.org/W4393220254","https://openalex.org/W4321258516","https://openalex.org/W2051833850","https://openalex.org/W4287845917","https://openalex.org/W4390135167","https://openalex.org/W2968643431","https://openalex.org/W2097995569","https://openalex.org/W4234906596","https://openalex.org/W4229591372","https://openalex.org/W2071544734"],"abstract_inverted_index":{"Robots":[0],"made":[1],"from":[2,38],"reconfigurable":[3,110,159,202,245],"modular":[4],"units":[5],"feature":[6],"versatility,":[7],"cost":[8],"efficiency,":[9],"and":[10,28,40,76,90,97,111,133,150,155,183,188,219],"improved":[11],"sustainability":[12],"compared":[13],"with":[14,204],"fixed":[15],"designs.":[16],"Reconfigurable":[17],"modules":[18,35,61,200,241],"driven":[19],"by":[20,127,146],"soft":[21,34,132,147],"actuators":[22,149],"provide":[23,63],"adaptable":[24],"actuation,":[25,42],"safe":[26],"interaction,":[27],"wide":[29],"design":[30],"freedom,":[31],"but":[32],"existing":[33],"would":[36],"benefit":[37],"high-speed":[39,64,246],"high-strain":[41,86],"as":[43,45,105],"well":[44],"driving":[46,233],"methods":[47],"well-suited":[48],"to":[49],"untethered":[50],"operation.":[51],"Here,":[52],"we":[53,197],"introduce":[54],"a":[55,77,128,136,152,175,186,189,208,211,215,220],"class":[56],"of":[57,70,81,119,131,139,162,170,239],"electrically":[58],"actuated":[59],"robotic":[60,114],"that":[62,91,177],"(a":[65],"peak":[66,78],"contractile":[67],"strain":[68],"rate":[69],"4618%":[71],"per":[72,84],"second,":[73],"15.8-hertz":[74],"bandwidth,":[75],"specific":[79],"power":[80],"122":[82],"watts":[83],"kilogram),":[85],"(49%":[87],"contraction)":[88],"actuation":[89,117,168],"use":[92],"magnets":[93],"for":[94,108,158,229,242],"reversible":[95],"mechanical":[96,153],"electrical":[98],"connections":[99,228],"between":[100],"neighboring":[101],"modules,":[102,173],"thereby":[103],"serving":[104],"building":[106],"blocks":[107],"rapidly":[109,244],"highly":[112],"agile":[113],"systems.":[115],"The":[116],"performance":[118,169],"each":[120],"hexagonal":[121,137],"electrohydraulic":[122,148],"(HEXEL)":[123],"module":[124],"is":[125],"enabled":[126],"synergistic":[129],"combination":[130],"rigid":[134,140],"components;":[135],"exoskeleton":[138],"plates":[141],"amplifies":[142],"the":[143,167,226,237],"motion":[144],"produced":[145],"provides":[151],"structure":[154],"connection":[156],"platform":[157],"robots":[160,203],"composed":[161],"many":[163],"modules.":[164],"We":[165,223],"characterize":[166],"individual":[171],"HEXEL":[172,240],"present":[174],"model":[176],"captures":[178],"their":[179],"quasi-static":[180],"force-stroke":[181],"behavior,":[182],"demonstrate":[184],"both":[185],"high-jumping":[187],"fast":[190],"pipe-crawling":[191],"robot.":[192,222],"Using":[193],"embedded":[194],"magnetic":[195,227],"connections,":[196],"arranged":[198],"multiple":[199],"into":[201],"diverse":[205],"functionality,":[206],"including":[207],"high-stroke":[209],"muscle,":[210],"multimodal":[212],"active":[213,217],"array,":[214],"table-top":[216],"platform,":[218],"fast-rolling":[221],"further":[224],"leveraged":[225],"hosting":[230],"untethered,":[231],"snap-on":[232],"electronics,":[234],"together":[235],"highlighting":[236],"promise":[238],"creating":[243],"robots.":[247]},"counts_by_year":[{"year":2026,"cited_by_count":17},{"year":2025,"cited_by_count":32},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-26T15:22:09.906841","created_date":"2025-10-10T00:00:00"}